EP2856452B1 - Carriageway recognition - Google Patents
Carriageway recognition Download PDFInfo
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- EP2856452B1 EP2856452B1 EP13725599.8A EP13725599A EP2856452B1 EP 2856452 B1 EP2856452 B1 EP 2856452B1 EP 13725599 A EP13725599 A EP 13725599A EP 2856452 B1 EP2856452 B1 EP 2856452B1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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Definitions
- the present invention relates to the field of driver assistance systems, and more particularly to a method of providing an assessment of whether a roadway is directional and a device configured for that purpose.
- FIG. 1 shows as an example of a directional lane a highway that includes two structurally separated by a guardrail roadways. In each lane the vehicles move on several lanes in the same direction of travel.
- FIG. 2 shows a normal highway with two lanes, each assigned to a direction of travel. The type of centerline indicates that, for example, overtaking on the opposite lane is permitted. FIG. 2 thus shows two lanes that are not directional.
- the recognition that the vehicle is on a directional lane can be used by various driver assistance systems (so-called customer functions or customers) in order to improve their function or even to enable it at all. For example, depending on whether the vehicle is on a directional lane or not and thus the expected oncoming traffic on lanes, an evasive assistant can decide in which direction an evasive maneuver should be executed. Furthermore, the activation of a congestion assistant or an automatic cruise control can be made dependent on whether the vehicle is on a directional lane.
- navigation systems In general, navigation systems are known which access digital maps, which often also indicate the type of the deposited roads, for example the types of country road or highway. Based on this and using localization, for example via GPS, navigation systems are generally able to provide information as to whether the vehicle is on a highway and, consequently, on a directional lane.
- the publication DE 102007048842 A1 relates to a control system for a driver assistance system for a vehicle having an input for receiving image information acquired by a camera, the image information relating to specific objects from the surroundings of the vehicle, the front view of which differs from its rear view. Furthermore, an evaluation component is provided for evaluating the image information for recognizing a front and rear view of the specific objects and a decision component for deciding on the generation of an output signal using information determined by the evaluation component, wherein the output signal relates to the correctness of the current direction of travel of the vehicle, and an output for outputting the output signal. Furthermore, the invention relates to a method for operating a driver assistance system for a vehicle and a computer program product.
- the object of the invention is to provide a reliable detection of directional lanes and a device set up for this purpose.
- the object is achieved by a method for providing an assessment as to whether a roadway is direction-bound, according to claim 1 and a device configured for this purpose according to claim 17.
- FIG. 3 shows an exemplary inventive device 300 installed in a vehicle (not shown). Only optional features are shown in dashed lines.
- the device 300 is configured to receive the output A of at least one environment detection device 302 and the velocity v from a vehicle speed determination device 304. From these inputs, the device 300 determines the metric P which indicates an estimate of whether a lane is directional. The measure P in turn can be used by customers 306.
- the respectively suitable system gives in a known manner properties of the vehicle environment such as the number of rectified lanes, the width of the lanes, the width of the lane markings, the circle radius of a lane or the reciprocal thereof, ie the curvature of a lane, the speed of in the same direction of moving vehicles, the number of parallel moving vehicles, the transverse movement of vehicles within a structural separation, the uniformity of the height or depth of the edge development, the distance of the right edge of the road to the edge development, a measure of the opacity of traffic routing, the presence and the level of speed limits, the provision of overtaking prohibitions, the fact that the vehicle is located in a closed locality, that a motor road sign has to be passed or that a motorway sign has to pass or has been passed Traffic on the roadway is present and / or a measure of the frequency of parked vehicles on the road
- environment recognition devices may be considered which read the type of road from digital maps and interpret the digital maps to output the length of the segment of the same road type and / or circle radius of the lane of the segment in the area of which previously determined position of the vehicle falls.
- These devices are, for example, navigation systems that include digital maps.
- the reciprocal of the circle radius ie the curvature of a segment, can also be output.
- customers of the measure P can be an evasion assistant, a congestion assistant and / or an automatic cruise control.
- FIG. 4 shows a flowchart of a method 400 according to the invention. Only optional features are shown in dashed lines.
- a measure P is set (S401). This determination may include setting the measure P to zero or another starting value.
- An environment-detecting device of a vehicle receives an output A based on recognition of the environment at a first time (S402).
- the environment detection device may periodically or irregularly output the output A calculated at one time.
- This output A is assigned a factor F (S403), where the factor F is also based on the speed v of the vehicle at a time associated with the output A.
- the speed v may be the vehicle driven or owned speed at least at approximately the time of issue, at least approximately the time of computation of the output by the environment detection device, or the approximate timing of the input variable measurement by the environment recognition device.
- the factor F is preferably based on the multiplication of the speed v by a time interval ⁇ t.
- an average value of the velocity v during the period ⁇ t may also be used.
- the measurement of the distance traveled in the period .DELTA.t be used as a basis for the factor F.
- the time interval .DELTA.t corresponds to the time between two times at which each output A of the device for environment detection is received, to each of which an output A is output from the device for environment detection, to which each recognition of the environment has taken place or to each of which the measurements of the device for environment detection have been performed, which have led to the calculation of the respective output A.
- the output A is mapped to an evaluation value x according to a predefined mapping rule (S404).
- This mapping rule assigns an evaluation value x to an output A. This assignment takes into account the extent to which the property of the vehicle environment represented by the output A indicates a directional roadway.
- the evaluation value x is assigned to the output A (S405).
- the score P is calculated based on a sum based on the factor-weighted score and the previously calculated score (S406).
- the calculated measure P is then provided (S406).
- the method 400 is repeated at least once, wherein upon the repetition of the device for environment detection an output A is received, which is based on recognition of the environment at another time.
- the output of the environment recognition device is weighted by a factor based on the speed of the vehicle. Only in this way can it be ensured that the temporally different outputs of the device are included in the assessment according to their significance.
- the outputs of the device for detecting the surroundings of the vehicle have a different meaning. For example, in a stalled vehicle, the output calculated at different times will, in most cases, map the same environment, whereby the outputs can not confirm the characteristics of the environment. This is counteracted according to the invention by the weighting with the speed-based factor.
- a property of a vehicle environment such as exceeding a certain lane width, with only short-term and / or one-off occurrence, does not allow for estimation with sufficient certainty as to whether a lane is present.
- such properties can be checked for a confirmed occurrence or non-occurrence, which makes it possible with greater certainty via the measure P to make an assessment as to whether or not there is a directional roadway.
- the provision of the calculation result of the measure P has the advantage that customers can decide for themselves which security of the assessment, ie which value of P, is sufficient for them to activate their function or to start from a directional roadway. For an automatic cruise control, a smaller value of P might be sufficient than for a traffic jam assistant.
- the method further comprises limiting the measure P to a maximum value. Achieving the maximum value of the measure P represents the estimation that a roadway is directional. Further summation of positive values to this maximum value does not result in an increase in the metric P. Conversely, the method may further include limiting the metric to a minimum value. Further summing of negative values to this minimum value does not lead to a reduction of the measure. The achievement of the minimum value by the measure P represents the assessment that it is not a directional roadway.
- the maximum value is 1 and the minimum value is 0.
- the method may provide the output R which indicates which of two thresholds (eg, minimum or maximum value) the metric P has last reached (if a threshold has already been reached).
- This output R can be understood as a statement as to whether a directional lane has been recognized or not, for example, by assuming the values +1 or -1. In this case, the provision of the measure P itself can be omitted.
- the first threshold value is the maximum value and the second threshold value is the minimum value.
- the statement R may mean that a directional road has been detected, or that it has been recognized that there is no directional roadway.
- the method 400 may also be used to plausibilize map-based statements regarding the directionality of a roadway.
- outputs from map-based environment-aware devices are treated differently than the outputs from other environment-aware devices.
- the method 400 further includes receiving an output of a device for environment detection, which, based on a map and the current position, makes an assessment as to whether the Vehicle is located on a directional lane.
- This output is mapped into another measure Q whose values can be limited to a minimum and a maximum value (for example, 0 and 1).
- the measure Q can also be received directly.
- the output S is provided which indicates which of two thresholds (eg the maximum and minimum values) the metric Q has reached last (if a threshold has already been reached) or whether it is is a directional lane or not.
- the output S may be understood as a statement as to whether or not a directional lane has been detected on the basis of the map and the current position, for example, taking the values +1 and -1.
- the factors G1 and G2 can reflect the importance attached to the quality of the respective statements of the underlying measures.
- the weights G1 and G2 are based on the measures P and Q, respectively.
- the information about the type of road provided from digital maps can be linked to the outputs of at least one further device for environment recognition and thus made plausible.
- the method comprises outputting a route which would have to be traversed by the vehicle or more precisely by the device for the environment detection until the measurement number P reaches the maximum or the minimum value from the current value, if the output of the device for detecting the surroundings last issue would be consistent. In this way, assistance systems can be prepared for the expected future condition.
- the reciprocal of the evaluation value x preferably represents the limit distance that a vehicle would have to travel through outputs that were the same as the last output, by a change of the measure P by a predetermined amount to reach, preferably by the difference between the maximum and minimum value of the measure P.
- the method 400 further comprises providing the factor value F weighted evaluation value x.
- This weighted score x can be used by customers to obtain additional information about the score P. For example, if a customer only activates their function when a roadway is very directional, it may consider whether the measure P has reached or exceeded a certain value (for example, the maximum value) and whether the factor-weighted score is positive. More generally, in some embodiments, the change in the measure P may be provided.
- the measure P is set to a maximum or minimum value when an output is received from a device for environment detection that a highway sign has to pass or has been passed. This measure P can then be maintained at the value for a predetermined time or distance.
- the measure P may be set to a minimum or maximum value when an output is received from an environment detection device, oncoming traffic is present on the road, and if necessary, held at the value for a predetermined time or distance.
- the method according to the invention may include determining whether the vehicle is on a highway. This determination is made if the measure P exceeds a predetermined threshold, starting from which a directional road is assumed.
- the determination that the vehicle is on a highway is further dependent on at least one of the following conditions having occurred: receiving the output of a device for environment detection that a sign indicating the start of a freeway has been detected or receiving the output of a device to the environment identifier indicating that, according to a map, the road type of the segment in which the position of the vehicle falls is a highway.
- the determination that the vehicle is on a highway may be a prerequisite for the activation of certain assistance functions, such as a traffic jam assistant.
- the method may additionally provide the information as to whether and on which lane of the lane is to be expected with oncoming traffic.
- the information can also indicate that it is unknown whether to count on the respective lane with oncoming traffic.
- an output of a device for environment detection can be considered, which indicates which tracks are separated by a solid line.
- an output of a device be taken into account for the environment detection, which indicates on which lane objects were detected and their detected movement.
- the calculation of the measure P is also based on the outputs of two surroundings detection devices according to claim 10. In this way, the quality of the recognition can be further increased.
- the method also comprises at least one repetition of the above-mentioned steps of the method, wherein in the repetition of the first and second device for environment detection, a respective output calculated at a different time is received.
- the advantage of using a second device for environment detection is that in the assessment of whether a directional road exists, another property of the environment is taken into account.
- the assessment improves with this additional information.
- the assessment improves with further added output from environment detection devices.
- a further development of the particularly preferred embodiment therefore uses more than two devices for environment detection and combines their outputs in an analogous manner to the manner described above.
- N is the number of devices for environment identification
- F i is the factor for the ith device
- t i, j is the output for the ith device
- x i denotes the evaluation value for the output of the i-th device.
- the change of the dimension P can be further provided.
- the method according to this further embodiment can also be further developed by the further developments, developments, further developments or further developments or other optional features of the method 400 presented above; These are also compatible with the further embodiment.
- the device according to the invention can also be advantageously linked as a module to other modules, such as a learning map or a site detection (cf. FIG. 7 ). If the vehicle recognizes that it is on an RFB, this information is automatically loaded into the module learning card and the learning map is adjusted accordingly. By exchanging the updated map with other road users or a central location other road users can benefit from the update.
- the site detection module can also use the information about the directional lane.
- the embodiment described in detail below is based on the in FIG. 3 shown device 300 which receives an output from two devices for environment detection.
- the first device for environment detection gives the circle radius of the lane (index 1 below), ie the reciprocal of the curvature the lane, off.
- the second environment detection device outputs the width of the lane (index 2 below).
- the outputs of the environment detection devices are received substantially simultaneously and periodically and the time between receipts is ⁇ t. In the following it will be assumed for the sake of simplicity that the outputs of the two devices for environment detection are received simultaneously and periodically.
- the measure P calculated by the device according to the detailed embodiment is limited to values between 0 and 1 or 0% and 100%. Achieving the value 0% means that the lane is judged not to be a lane when it reaches 100%, which means that it is classified as a lane.
- This information can be provided as a further output R by the values +1 (directional lane) and -1 (no lane direction). The output R remains in its state until the other value is reached.
- the device 300 uses, for example, the in FIG. 5 shown mapping rule.
- the device 300 uses, for example, the in FIG. 6 shown mapping rule.
- the reciprocal value of the individual values of these mapping specifications always represents the borderline that the vehicle has to go through in order to maintain the same output to decrease the measure P from 100% (ie 1) to 0% (ie 0) or to increase it from 0% to 100%, depending on whether the score is positive or negative and calculating the score based on only that one score without the second edition.
- the border path would be about 200m
- the border path would be about 200m.
- the measure P is initially set to 0. For each new calculation of the measure, the sum of the weighted scores associated with the respective factor is then added to the previous measure.
- t j denotes the time of receipt of the outputs x i in the j-th repetition of the method, where there are at least two repetitions.
- This calculation is performed at least for two different times of the outputs of the environment detection devices, and then the metric P is provided.
- R is provided which indicates whether the metric P has last taken the value 0 or 1.
- R preferably takes the values -1 and +1.
- a value of -1 indicates that P last took the value 0, which is interpreted as a recognition that the lane is not directional.
- a value of +1 indicates that P last assumed the value of 1, which is interpreted as a directional lane detection.
- RFB can be provided by means of the device according to the detailed embodiment. This is calculated by linking an output based on map data (a device for environment detection) with an output based on another environment detection (a device for environment detection).
- the basic idea here is to use the information already known from card data by so-called soft criteria, e.g. to gain insight into the environment from camera shots.
- the apparatus receives the metric Q (preferably with values between 0 and 1) representing the output of a map data-based environment recognition device.
- the output S is provided which indicates whether the measure Q has last reached a minimum or maximum value.
- the output S assumes the values +1 (directional lane detected) and -1 (detection that lane is not directional).
- RFB G 1 * R + G 2 * S ,
- RFB takes the maximum value (eg +1)
- the safest detection of a lane is indicated, while the minimum value of RFB (eg -1) with the highest detection reliability indicates that it is not a lane.
- the values in between represent detection results with less security or confidence.
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Description
Die vorliegende Erfindung betrifft das Gebiet der Fahrerassistenzsysteme und genauer ein Verfahren zum Bereitstellen einer Einschätzung, ob eine Fahrbahn richtungsgebunden ist, und eine zu diesem Zweck eingerichtete Vorrichtung.The present invention relates to the field of driver assistance systems, and more particularly to a method of providing an assessment of whether a roadway is directional and a device configured for that purpose.
Als Richtungsfahrbahn oder richtungsgebundene Fahrbahn wird hier eine von anderen Fahrbahnen abgetrennte Fahrbahn bezeichnet, innerhalb derer sich die Fahrzeuge in die gleiche Fahrtrichtung bewegen. Eine Fahrbahn kann mehrere Fahrspuren umfassen. Die Abtrennung zeigt an, dass der auch nur temporäre Wechsel von Fahrzeugen in die andere Fahrbahn nicht vorgesehen ist und kann durch bauliche Trennungen, wie Leitplanken, Grünstreifen, Wände, etc. erfolgen.
Die Erkennung, dass sich das Fahrzeug auf einer Richtungsfahrbahn befindet, kann von verschiedenen Fahrerassistenzsystemen (sog. Abnehmerfunktionen bzw. Abnehmer) verwendet werden, um deren Funktion zu verbessern oder überhaupt erst zu ermöglichen. Beispielsweise kann ein Ausweichassistent je nachdem ob sich das Fahrzeug auf einer Richtungsfahrbahn befindet oder nicht und damit dem zu erwartendem Gegenverkehr auf Fahrspuren, entscheiden, in welche Richtung ein Ausweichmanöver ausgeführt werden soll. Weiterhin kann die Aktivierung eines Stauassistenten oder einer automatischen Geschwindigkeitsregelung davon abhängig gemacht werden, ob sich das Fahrzeug auf einer Richtungsfahrbahn befindet.The recognition that the vehicle is on a directional lane can be used by various driver assistance systems (so-called customer functions or customers) in order to improve their function or even to enable it at all. For example, depending on whether the vehicle is on a directional lane or not and thus the expected oncoming traffic on lanes, an evasive assistant can decide in which direction an evasive maneuver should be executed. Furthermore, the activation of a congestion assistant or an automatic cruise control can be made dependent on whether the vehicle is on a directional lane.
Allgemein sind Navigationssysteme bekannt, die auf digitale Karten zugreifen, die häufig auch den Typ der hinterlegten Straßen, also beispielsweise die Typen Landstraße oder Autobahn, angeben. Auf dieser Grundlage und mithilfe einer Lokalisierung beispielsweise über GPS sind Navigationssysteme generell in der Lage, eine Aussage darüber bereitzustellen, ob sich das Fahrzeug auf einer Autobahn und folglich auf einer richtungsgebundenen Fahrbahn befindet.In general, navigation systems are known which access digital maps, which often also indicate the type of the deposited roads, for example the types of country road or highway. Based on this and using localization, for example via GPS, navigation systems are generally able to provide information as to whether the vehicle is on a highway and, consequently, on a directional lane.
Allerdings kann die Lokalisierung innerhalb einer Karte wie oben beschrieben zu einer fehlerhaften Bestimmung führen, ob sich das Fahrzeug auf einer Richtungsfahrbahn befindet oder nicht. So ist es möglich, dass die Daten der Karte veraltet oder ungenau sind, oder sich eine temporäre Veränderung ergeben hat. Darüber hinaus ist es möglich, dass Informationen zum Straßentyp fehlen oder die Lokalisierung des Fahrzeugs ungenau ist.However, localization within a map as described above may lead to an erroneous determination as to whether or not the vehicle is on a directional lane. Thus it is possible that the data of the card is outdated or inaccurate, or has resulted in a temporary change. In addition, it is possible that information about the road type is missing or the location of the vehicle is inaccurate.
In der Druckschrift
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Aufgabe der Erfindung ist es, eine zuverlässige Erkennung von Richtungsfahrbahnen und eine zu diesem Zweck eingerichtete Vorrichtung bereit zu stellen.The object of the invention is to provide a reliable detection of directional lanes and a device set up for this purpose.
Die Aufgabe wird durch ein Verfahren zum Bereitstellen einer Einschätzung, ob eine Fahrbahn richtungsgebunden ist, gemäß Anspruch 1 und einer zu diesem Zweck eingerichteten Vorrichtung gemäß Anspruch 17 gelöst.The object is achieved by a method for providing an assessment as to whether a roadway is direction-bound, according to
Weitere vorteilhafte Ausführungsformen werden in den abhängigen Ansprüchen definiert.Further advantageous embodiments are defined in the dependent claims.
Als Vorrichtungen zur Umfelderkennung kommen zunächst kamerabasierte Systeme gegebenenfalls mit Objekt- und Mustererkennung, ultraschallbasierte Systeme, Lidarsysteme, Radarsysteme oder ähnliche in Betracht. Das jeweils dafür geeignete System gibt auf an sich bekannte Weise Eigenschaften des Fahrzeugumfelds wie die Anzahl der gleichgerichteten Fahrspuren, die Breite der Fahrspuren, die Breite der Fahrspurmarkierungen, den Kreisradius einer Fahrspur oder den Kehrwert davon, also die Krümmung einer Fahrspur, die Geschwindigkeit von in die gleiche Richtung fahrenden Fahrzeugen, die Anzahl nebeneinander parallel fahrender Fahrzeuge, die Querbewegung von Fahrzeugen innerhalb einer baulichen Trennung, die Gleichmäßigkeit der Höhe oder Tiefe der Randbebauung, den Abstand des rechten Fahrbahnrandes zur Randbebauung, ein Maß für die Undurchsichtigkeit der Verkehrsführung, das Vorhandensein und die Höhe von Geschwindigkeitsbegrenzungen, die Vorgabe von Überholverboten, die Tatsache, dass sich das Fahrzeug in einer geschlossenen Ortschaft befindet, dass ein Kraftfahrstraßen Schild zu passieren ist bzw. passiert wurde, dass ein Autobahnschild zu passieren ist bzw. passiert wurde, dass Gegenverkehr auf der Fahrbahn vorhanden ist und/oder ein Maß für die Häufigkeit von parkenden Fahrzeugen am Straßenrand aus.As devices for environment detection initially come camera-based systems, where appropriate, with object and pattern recognition, ultrasound-based systems, Lidarsysteme, radar systems or the like into consideration. The respectively suitable system gives in a known manner properties of the vehicle environment such as the number of rectified lanes, the width of the lanes, the width of the lane markings, the circle radius of a lane or the reciprocal thereof, ie the curvature of a lane, the speed of in the same direction of moving vehicles, the number of parallel moving vehicles, the transverse movement of vehicles within a structural separation, the uniformity of the height or depth of the edge development, the distance of the right edge of the road to the edge development, a measure of the opacity of traffic routing, the presence and the level of speed limits, the provision of overtaking prohibitions, the fact that the vehicle is located in a closed locality, that a motor road sign has to be passed or that a motorway sign has to pass or has been passed Traffic on the roadway is present and / or a measure of the frequency of parked vehicles on the roadside.
Darüber hinaus kommen Vorrichtungen zur Umfelderkennung in Betracht, die den Typ der Straße aus digitalen Landkarten herauslesen und die digitale Landkarten insoweit interpretieren, als dass sie die Länge des Segments mit demselben Straßentyp und/oder den Kreisradius der Fahrspur des Segments ausgeben, in dessen Bereich die zuvor bestimmte Position des Fahrzeugs fällt. Diese Vorrichtungen sind beispielsweise Navigationssysteme, die digitale Landkarten umfassen. Anstelle des Kreisradius einer Fahrspur kann auch der Kehrwert des Kreisradius, also die Krümmung eines Segments, ausgegeben werden.In addition, environment recognition devices may be considered which read the type of road from digital maps and interpret the digital maps to output the length of the segment of the same road type and / or circle radius of the lane of the segment in the area of which previously determined position of the vehicle falls. These devices are, for example, navigation systems that include digital maps. Instead of the circle radius of a lane, the reciprocal of the circle radius, ie the curvature of a segment, can also be output.
Abnehmer der Maßzahl P können, wie oben bereits angesprochen, ein Ausweichassistent, ein Stauassistent und/oder eine automatische Geschwindigkeitsregelung sein.As already mentioned above, customers of the measure P can be an evasion assistant, a congestion assistant and / or an automatic cruise control.
Je nachdem, ob vor der Ausführung des Verfahrens eine Maßzahl bereits berechnet wurde oder nicht, wird eine Maßzahl P festgelegt (S401). Diese Festlegung kann das Setzen der Maßzahl P auf Null oder einen anderen Startwert umfassen.Depending on whether or not a measure has already been calculated before the execution of the method, a measure P is set (S401). This determination may include setting the measure P to zero or another starting value.
Von einer Vorrichtung zur Umfelderkennung eines Fahrzeugs wird eine Ausgabe A empfangen, die auf einer Erkennung des Umfelds zu einem ersten Zeitpunkt basiert (S402). Die Vorrichtung zur Umfelderkennung kann periodisch oder unregelmäßig die jeweils zu einem Zeitpunkt berechnete Ausgabe A ausgeben.An environment-detecting device of a vehicle receives an output A based on recognition of the environment at a first time (S402). The environment detection device may periodically or irregularly output the output A calculated at one time.
Dieser Ausgabe A wird ein Faktor F zugeordnet (S403), wobei der Faktor F auch auf der Geschwindigkeit v des Fahrzeugs an einem der Ausgabe A zugeordneten Zeitpunkt basiert. Die Geschwindigkeit v kann die vom Fahrzeug gefahrene oder innegehabte Geschwindigkeit zum zumindest ungefähren Zeitpunkt der Ausgabe, zum zumindest ungefähren Zeitpunkt der Berechnung der Ausgabe durch die Vorrichtung zur Umfelderkennung oder zum ungefähren Zeitpunkt der Messung von Eingangsgrößen durch die Vorrichtung zur Umfelderkennung sein.This output A is assigned a factor F (S403), where the factor F is also based on the speed v of the vehicle at a time associated with the output A. The speed v may be the vehicle driven or owned speed at least at approximately the time of issue, at least approximately the time of computation of the output by the environment detection device, or the approximate timing of the input variable measurement by the environment recognition device.
Bevorzugt basiert der Faktor F auf der Multiplikation der Geschwindigkeit v mit einer Zeitspanne Δt. Der Faktor F basiert also auf der (bei veränderter Geschwindigkeit während der Zeitspanne Δt nur ungefähren) Strecke, die das Fahrzeug in der Zeitspanne Δt durchläuft, wie in folgendem Ausdruck (1) charakterisiert, in dem v(t) die Geschwindigkeit des Fahrzeugs zum Zeitpunkt t ist:
Um die Genauigkeit zu erhöhen kann auch ein Mittelwert der Geschwindigkeit v während der Zeitspanne Δt verwendet werden. In einer Alternative kann als Faktor auch die Messung der durchlaufenen Strecke in der Zeitspanne Δt als Basis für den Faktor F verwendet werden.In order to increase the accuracy, an average value of the velocity v during the period Δt may also be used. In an alternative, as a factor, the measurement of the distance traveled in the period .DELTA.t be used as a basis for the factor F.
In einer vorteilhaften Weiterbildung entspricht die Zeitspanne Δt der Zeit zwischen zwei Zeitpunkten, zu denen je eine Ausgabe A der Vorrichtung zur Umfelderkennung empfangen wird, zu denen je eine Ausgabe A von der Vorrichtung zur Umfelderkennung ausgegeben wird, zu denen je eine Erkennung des Umfelds stattgefunden hat oder zu denen je die Messungen der Vorrichtung zur Umfelderkennung durchgeführt wurden, die zur Berechnung der jeweiligen Ausgabe A geführt haben.In an advantageous development, the time interval .DELTA.t corresponds to the time between two times at which each output A of the device for environment detection is received, to each of which an output A is output from the device for environment detection, to which each recognition of the environment has taken place or to each of which the measurements of the device for environment detection have been performed, which have led to the calculation of the respective output A.
Weiterhin wird die Ausgabe A in einen Bewertungswert x gemäß einer vordefinierten Abbildungsvorschrift abgebildet (S404). Diese Abbildungsvorschrift ordnet einer Ausgabe A einen Bewertungswert x zu. Bei dieser Zuordnung wird berücksichtigt, inwiefern die durch die Ausgabe A repräsentierte Eigenschaft des Fahrzeugumfelds auf eine Richtungsfahrbahn hindeutet.Further, the output A is mapped to an evaluation value x according to a predefined mapping rule (S404). This mapping rule assigns an evaluation value x to an output A. This assignment takes into account the extent to which the property of the vehicle environment represented by the output A indicates a directional roadway.
Der Bewertungswert x wird der Ausgabe A zugeordnet (S405).The evaluation value x is assigned to the output A (S405).
Anschließend wird die Maßzahl P berechnet und zwar basierend auf einer Summe, die auf dem mit dem zugeordneten Faktor gewichteten Bewertungswert und der vorhergehend berechneten oder festgelegten Maßzahl basiert (S406).Subsequently, the score P is calculated based on a sum based on the factor-weighted score and the previously calculated score (S406).
Die Berechnung der Maßzahl P lässt sich somit wie in Ausdruck (2) dargelegt charakterisieren, wobei Palt die vorhergehend berechnete oder festgelegte Maßzahl repräsentiert:
Die berechnete Maßzahl P wird daraufhin bereitgestellt (S406).The calculated measure P is then provided (S406).
Bevorzugt wird das Verfahren 400 zumindest einmal wiederholt, wobei bei der Wiederholung von der Vorrichtung zur Umfelderkennung eine Ausgabe A empfangen wird, die auf einer Erkennung des Umfelds zu einem anderen Zeitpunkt basiert.Preferably, the
Um auf zuverlässige Art eine Einschätzung zur Richtungsgebundenheit einer Fahrbahn abzugeben wird die Ausgabe der Vorrichtung zur Umfelderkennung mit einem Faktor gewichtet, der auf der Geschwindigkeit des Fahrzeugs beruht. Nur so kann sichergestellt werden, dass die zeitlich verschiedenen Ausgaben der Vorrichtung gemäß ihrer Bedeutung in die Einschätzung einfließen. Abhängig von der Geschwindigkeit des Fahrzeugs kommt den Ausgaben der Vorrichtung zur Umfelderkennung des Fahrzeugs nämlich eine unterschiedliche Bedeutung zu. Bei einem stillstehenden Fahrzeug beispielsweise wird die zu verschiedenen Zeitpunkten berechnete Ausgabe in den meisten Fällen dasselbe Umfeld abbilden wodurch die Ausgaben die Eigenschaften des Umfelds nicht bestätigen können. Dem wird erfindungsgemäß durch die Gewichtung mit dem auf der Geschwindigkeit basierenden Faktor entgegengewirkt.In order to make a reliable estimation of the directionality of a roadway, the output of the environment recognition device is weighted by a factor based on the speed of the vehicle. Only in this way can it be ensured that the temporally different outputs of the device are included in the assessment according to their significance. Depending on the speed of the vehicle, the outputs of the device for detecting the surroundings of the vehicle have a different meaning. For example, in a stalled vehicle, the output calculated at different times will, in most cases, map the same environment, whereby the outputs can not confirm the characteristics of the environment. This is counteracted according to the invention by the weighting with the speed-based factor.
Häufig lässt eine Eigenschaft einer Fahrzeugumgebung, wie beispielsweise das Überschreiten einer bestimmten Fahrspurbreite, bei nur kurzfristigem und/oder einmaligem Auftreten keine Einschätzung mit hinreichender Sicherheit zu, ob eine Richtungsfahrbahn vorliegt. Mithilfe des erfindungsgemäßen Verfahrens können solche Eigenschaften auf ein bestätigtes Auftreten oder Nicht-Auftreten überprüft werden, wodurch mit größerer Sicherheit über die Maßzahl P eine Einschätzung ermöglicht wird, ob eine Richtungsfahrbahn vorliegt oder nicht.Often, a property of a vehicle environment, such as exceeding a certain lane width, with only short-term and / or one-off occurrence, does not allow for estimation with sufficient certainty as to whether a lane is present. With the aid of the method according to the invention, such properties can be checked for a confirmed occurrence or non-occurrence, which makes it possible with greater certainty via the measure P to make an assessment as to whether or not there is a directional roadway.
Die Bereitstellung des Berechnungsergebnisses der Maßzahl P hat den Vorteil, dass Abnehmer selbst entscheiden können, welche Sicherheit der Einschätzung, also welcher Wert von P, für sie ausreicht, um ihre Funktion zu aktivieren oder von einer Richtungsfahrbahn auszugehen. Für eine automatische Geschwindigkeitsregelung könnte ein kleinerer Wert von P ausreichen, als für einen Stauassistent.The provision of the calculation result of the measure P has the advantage that customers can decide for themselves which security of the assessment, ie which value of P, is sufficient for them to activate their function or to start from a directional roadway. For an automatic cruise control, a smaller value of P might be sufficient than for a traffic jam assistant.
In einer bevorzugten Weiterbildung umfasst das Verfahren weiter das Begrenzen der Maßzahl P auf einen Maximalwert. Das Erreichen des Maximalwerts der Maßzahl P repräsentiert die Einschätzung, dass eine Fahrbahn richtungsgebunden ist. Weiteres Summieren von positiven Werten zu diesem Maximalwert führt nicht zu einer Erhöhung der Maßzahl P. Umgekehrt kann das Verfahren weiter das Begrenzen der Maßzahl auf einen Minimalwert umfassen. Weiteres Summieren von negativen Werten zu diesem Minimalwert führt nicht zu einer Verringerung der Maßzahl. Dabei repräsentiert das Erreichen des Minimalwerts durch die Maßzahl P die Einschätzung, dass es sich nicht um eine Richtungsfahrbahn handelt. Vorteilhafterweise ist der Maximalwert 1 und der Minimalwert 0.In a preferred embodiment, the method further comprises limiting the measure P to a maximum value. Achieving the maximum value of the measure P represents the estimation that a roadway is directional. Further summation of positive values to this maximum value does not result in an increase in the metric P. Conversely, the method may further include limiting the metric to a minimum value. Further summing of negative values to this minimum value does not lead to a reduction of the measure. The achievement of the minimum value by the measure P represents the assessment that it is not a directional roadway. Advantageously, the maximum value is 1 and the minimum value is 0.
Zusätzlich kann das Verfahren die Ausgabe R bereitstellen, die anzeigt welchen von zwei Schwellwerten (bspw. Minimal- oder Maximalwert) die Maßzahl P als letztes erreicht hat (wenn bereits ein Schwellwert erreicht wurde). Diese Ausgabe R kann als Aussage verstanden werden, ob eine Richtungsfahrbahn erkannt wurde oder nicht, beispielsweise durch das Annehmen der Werte +1 oder -1. In diesem Fall kann die Bereitstellung der Maßzahl P selbst unterbleiben. Vorteilhafter Weise ist der erste Schwellwert der Maximalwert und der zweite Schwellwert der Minimalwert. Die Aussage R kann bedeuten, dass eine Richtungsfahrbahn erkannt wurde, oder dass erkannt wurde, dass keine Richtungsfahrbahn vorliegt.In addition, the method may provide the output R which indicates which of two thresholds (eg, minimum or maximum value) the metric P has last reached (if a threshold has already been reached). This output R can be understood as a statement as to whether a directional lane has been recognized or not, for example, by assuming the values +1 or -1. In this case, the provision of the measure P itself can be omitted. Advantageously, the first threshold value is the maximum value and the second threshold value is the minimum value. The statement R may mean that a directional road has been detected, or that it has been recognized that there is no directional roadway.
Das Verfahren 400 kann auch dazu verwendet werden auf Landkarten basierende Aussagen bezüglich der Richtungsgebundenheit einer Fahrbahn zu plausibilisieren. In diesem Fall werden Ausgaben von Vorrichtungen zur Umfelderkennung auf der Grundlage von Landkarten anders behandelt als die Ausgaben von anderen Vorrichtungen zur Umfelderkennung. Dazu umfasst das Verfahren 400 ferner das Empfangen einer Ausgabe einer Vorrichtung zur Umfelderkennung, die auf der Grundlage einer Landkarte und der aktuellen Position eine Einschätzung abgibt, ob sich das Fahrzeug auf einer Richtungsfahrbahn befindet. Diese Ausgabe wird in eine weitere Maßzahl Q abgebildet, deren Werte auf einen Minimal- und Maximalwert (beispielsweise 0 und 1) begrenzt sein können. Alternativ kann auch direkt die Maßzahl Q empfangen werden. Für diese Maßzahl Q wird die Ausgabe S bereitgestellt, die angibt, welchen von zwei Schwellwerten (beispielsweise den Maximal- und Minimalwert) die Maßzahl Q als letztes erreicht hat (wenn ein Schwellwert bereits erreicht wurde) bzw. die unabhängig davon angibt, ob es sich um eine Richtungsfahrbahn handelt oder nicht. Die Ausgabe S kann als Aussage verstanden werden, ob auf der Grundlage der Landkarte und der aktuellen Position eine Richtungsfahrbahn erkannt wurde oder nicht und beispielsweise die Werte +1 und -1 annehmen.The
Die Ausgaben R bzw. S können dazu verwendet werden, eine übergeordnete Aussage zur Richtungsfahrbahn RFB bereitzustellen. Dazu werden die Ausgaben R und S gemäß ihren Maßzahlen P und Q mit Faktoren G1 und G2 gewichtet und summiert, wie in dem Ausdruck (3) dargestellt:
Die Faktoren G1 und G2 können die Bedeutung widerspiegeln, die der Qualität der jeweiligen Aussagen der zugrundeliegenden Maßzahlen beigemessen wird. In einer bevorzugten Weiterbildung basieren die Gewichte G1 bzw. G2 auf den Maßzahlen P bzw. Q. Die Berechnung der Maßzahlen kann wie in folgendem Ausdruck (4) dargestellt erfolgen:
Die Werte W1 und W2 lassen sich dabei wie folgt berechnen:
- W1 ist gleich der Maßzahl P, falls die Ausgabe R anzeigt, dass zuletzt der Maximalwert erreicht wurde,
- W1 ist gleich dem Maximalwert von P minus der Maßzahl P, falls die Ausgabe R anzeigt, dass zuletzt der Minimalwert erreicht wurde,
- W2 ist gleich der Maßzahl Q, falls die Ausgabe S anzeigt, dass zuletzt der Maximalwert erreicht wurde,
- W2 ist gleich dem Maximalwert von Q minus der Maßzahl Q, falls die Ausgabe S anzeigt, dass zuletzt der Minimalwert erreicht wurde.
- W1 is equal to the measure P, if the output R indicates that the maximum value was reached last,
- W1 is equal to the maximum value of P minus the metric P, if the output R indicates that the minimum value was last reached,
- W2 is equal to the metric Q if the output S indicates that the maximum value was last reached,
- W2 is equal to the maximum value of Q minus the metric Q if the output S indicates that the minimum value was reached last.
Auf diese Weise kann die Information über den Straßentyp, die aus digitalen Landkarten bereitgestellt wird, mit den Ausgaben von zumindest einer weiteren Vorrichtung zur Umfelderkennung verknüpft werden und damit plausibilisiert werden.In this way, the information about the type of road provided from digital maps can be linked to the outputs of at least one further device for environment recognition and thus made plausible.
In einer anderen bevorzugten Weiterbildung umfasst das Verfahren das Ausgeben einer Strecke, die vom Fahrzeug oder genauer der Vorrichtung zur Umfelderkennung, durchlaufen werden müsste bis die Maßzahl P vom aktuellen Wert aus den Maximal- oder den Minimalwert erreicht, wenn die Ausgabe der Vorrichtung zur Umfelderkennung die letzte Ausgabe gleichbleibend ausgeben würde. Auf diese Weise können Assistenzsysteme auf den erwarteten zukünftigen Zustand vorbereitet werden.In another preferred refinement, the method comprises outputting a route which would have to be traversed by the vehicle or more precisely by the device for the environment detection until the measurement number P reaches the maximum or the minimum value from the current value, if the output of the device for detecting the surroundings last issue would be consistent. In this way, assistance systems can be prepared for the expected future condition.
In einer Fortentwicklung des Verfahrens 400, bei dem der Faktor F auf der zurückgelegten Strecke basiert, repräsentiert der Kehrwert des Bewertungswerts x bevorzugt die Grenzstrecke, die ein Fahrzeug bei zur letzten Ausgabe gleichbleibenden Ausgaben durchlaufen müsste, um eine Änderung der Maßzahl P um einen vorbestimmten Betrag zu erreichen, vorzugsweise um die Differenz zwischen Maximal- und Minimalwert der Maßzahl P.In a further development of the
In manchen Weiterbildungen umfasst das Verfahren 400 weiter das Bereitstellen des mit dem Faktor F gewichteten Bewertungswertes x. Dieser gewichtete Bewertungswert x kann von Abnehmern verwendet werden, um zusätzliche Informationen über die Maßzahl P zu erhalten. Wenn ein Abnehmer seine Funktion nur aktiviert, wenn eine Fahrbahn mit sehr hoher Sicherheit richtungsgebunden ist, kann dieser z.B. berücksichtigen, ob die Maßzahl P einen bestimmten Wert erreicht oder überschritten hat (beispielsweise den Maximalwert) und ob der mit dem Faktor gewichtete Bewertungswert positiv ist. Allgemeiner ausgedrückt kann in manchen Weiterbildungen die Änderung der Maßzahl P bereitgestellt werden.In some developments, the
In einer vorteilhaften Weiterentwicklung der Erfindung wird die Maßzahl P auf einen Maximal- oder Minimalwert gesetzt, wenn eine Ausgabe von einer Vorrichtung zur Umfelderkennung empfangen wird, dass ein Autobahnschild zu passieren ist bzw. passiert wurde. Diese Maßzahl P kann dann für eine vorbestimmte Zeit oder Wegstrecke auf dem Wert gehalten werden.In an advantageous further development of the invention, the measure P is set to a maximum or minimum value when an output is received from a device for environment detection that a highway sign has to pass or has been passed. This measure P can then be maintained at the value for a predetermined time or distance.
Ähnlich kann die Maßzahl P auf einen Minimal- oder Maximalwert gesetzt werden, wenn eine Ausgabe von einer Vorrichtung zur Umfelderkennung empfangen wird, dass Gegenverkehr auf der Fahrbahn vorhanden ist, und gegebenenfalls für eine vorbestimmte Zeit oder Wegstrecke auf dem Wert gehalten werden.Similarly, the measure P may be set to a minimum or maximum value when an output is received from an environment detection device, oncoming traffic is present on the road, and if necessary, held at the value for a predetermined time or distance.
Ferner kann das erfindungsgemäße Verfahren die Bestimmung umfassen, ob sich das Fahrzeug auf einer Autobahn befindet. Diese Bestimmung wird ausgeführt, falls die Maßzahl P einen vorbestimmten Schwellwert überschreitet, ab dem von einer Richtungsfahrbahn ausgegangen wird. Die Bestimmung, dass sich das Fahrzeug auf einer Autobahn befindet, ist ferner davon abhängig, dass zumindest eine der folgenden Bedingungen eingetreten ist: Empfangen der Ausgabe einer Vorrichtung zur Umfelderkennung, dass ein den Beginn einer Autobahn anzeigendes Schild erkannt wurde oder Empfangen der Ausgabe einer Vorrichtung zur Umfelderkennung, die anzeigt, dass gemäß einer Landkarte der Straßentyp des Segments, in dessen Bereich die Position des Fahrzeugs fällt, eine Autobahn ist. Die Feststellung, dass sich das Fahrzeug auf einer Autobahn befindet, kann eine Voraussetzung für die Aktivierung von bestimmten Assistenzfunktionen sein, beispielsweise einem Stauassistent.Furthermore, the method according to the invention may include determining whether the vehicle is on a highway. This determination is made if the measure P exceeds a predetermined threshold, starting from which a directional road is assumed. The determination that the vehicle is on a highway is further dependent on at least one of the following conditions having occurred: receiving the output of a device for environment detection that a sign indicating the start of a freeway has been detected or receiving the output of a device to the environment identifier indicating that, according to a map, the road type of the segment in which the position of the vehicle falls is a highway. The determination that the vehicle is on a highway may be a prerequisite for the activation of certain assistance functions, such as a traffic jam assistant.
In dem Fall, dass die Maßzahl P oder die Ausgabe R anzeigt, dass die Fahrbahn als nicht richtungsgebunden angesehen wird, kann das Verfahren zusätzlich die Information bereitstellen, ob und auf welcher Fahrspur der Fahrbahn mit Gegenverkehr zu rechnen ist. Gegebenenfalls kann die Information auch angeben, dass es unbekannt ist, ob auf der jeweiligen Fahrspur mit Gegenverkehr zu rechnen ist. Bei dieser Bereitstellung kann eine Ausgabe einer Vorrichtung zur Umfelderkennung berücksichtigt werden, die anzeigt, welche Spuren durch eine durchgezogene Linie getrennt sind. Ferner kann bei dieser Bereitstellung eine Ausgabe einer Vorrichtung zur Umfelderkennung berücksichtigt werden, die anzeigt, auf welcher Fahrspur Objekte erkannt wurden und deren erkannter Bewegung.In the event that the measure P or the output R indicates that the lane is considered to be non-directional, the method may additionally provide the information as to whether and on which lane of the lane is to be expected with oncoming traffic. Optionally, the information can also indicate that it is unknown whether to count on the respective lane with oncoming traffic. In this provision, an output of a device for environment detection can be considered, which indicates which tracks are separated by a solid line. Furthermore, in this provision, an output of a device be taken into account for the environment detection, which indicates on which lane objects were detected and their detected movement.
Erfindungsgemäß basiert die Berechnung der Maßzahl P auch auf den Ausgaben von zwei Vorrichtungen zur Umfelderkennung nach Anspruch 10. Auf diese Weise kann die Qualität der Erkennung weiter gesteigert werden.According to the invention, the calculation of the measure P is also based on the outputs of two surroundings detection devices according to claim 10. In this way, the quality of the recognition can be further increased.
Bevorzugt umfasst das Verfahren auch das zumindest einmalige Wiederholen der oben genannten Schritte des Verfahrens, wobei bei der Wiederholung von der ersten und zweiten Vorrichtung zur Umfelderkennung je eine zu einem anderen Zeitpunkt berechnete Ausgabe empfangen wird.Preferably, the method also comprises at least one repetition of the above-mentioned steps of the method, wherein in the repetition of the first and second device for environment detection, a respective output calculated at a different time is received.
Der Vorteil der Verwendung einer zweiten Vorrichtung zur Umfelderkennung liegt darin, dass bei der Einschätzung, ob eine Richtungsfahrbahn vorliegt, eine weitere Eigenschaft des Umfeldes berücksichtigt wird. Die Einschätzung verbessert sich durch diese zusätzliche Information. Generell verbessert sich die Einschätzung mit weiter hinzugenommenen Ausgaben von Vorrichtungen zur Umfelderkennung. Eine Weiterbildung des besonders bevorzugten Ausführungsbeispiels verwendet deshalb mehr als zwei Vorrichtungen zur Umfelderkennung und kombiniert deren Ausgaben auf zu der oben dargestellten Art analoger Weise. Die Berechnung von P lässt sich somit gemäß dem folgenden Ausdruck (5) beschreiben:
Wobei Pj die Ausgabe in der j-ten Wiederholung des Verfahrens ist, N die Anzahl der Vorrichtungen zur Umfelderkennung bezeichnet, Fi der Faktor für die i-te Vorrichtung ist, ti,j der für die Ausgabe der i-ten Vorrichtung und für die j-te Wiederholung relevante Zeitpunkt ist und xi den Bewertungswert für die Ausgabe der i-ten Vorrichtung bezeichnet.Where P j is the output in the jth iteration of the method, N is the number of devices for environment identification, F i is the factor for the ith device, t i, j is the output for the ith device, and for the j-th repetition is relevant time, and x i denotes the evaluation value for the output of the i-th device.
Bei diesem weiteren Ausführungsbeispiel kann weiterhin die Änderung der Maßzahl P bereitgestellt werden. Weiterhin kann das Verfahren gemäß diesem weiteren Ausführungsbeispiel ebenfalls durch die oben präsentierten Weiterbildungen, Weiterentwicklungen, Fortbildungen oder Fortentwicklungen oder anderen fakultativen Merkmale des Verfahrens 400 weiter entwickelt werden; diese sind auch mit dem weiteren Ausführungsbeispiel vereinbar.In this further embodiment, the change of the dimension P can be further provided. Furthermore, the method according to this further embodiment can also be further developed by the further developments, developments, further developments or further developments or other optional features of the
Die erfindungsgemäße Vorrichtung kann als Modul auch vorteilhaft mit anderen Modulen, wie einer lernenden Karte oder einer Baustellenerkennung verknüpft werden (vgl.
Mittels der Verknüpfung der lernenden Karte mit dem Modul Richtungsfahrbahn können die Kriterien für die Charakterisierung der Richtungsfahrbahn bzw. die vordefinierten Abbildungsvorschriften angepasst werden. Dies umfasst insbesondere eine Verringerung der Bewertungswerte, so dass die Ausgabe einer Vorrichtung zur Umfelderkennung eine stärkere Verringerung oder geringere Vergrößerung der Maßzahl P nach sich zieht.
-
zeigt in einer Prinzipdarstellung eine Autobahn.Figur 1 -
Figur 2 zeigt in einer Prinzipdarstellung eine normale Bundesstraße mit zwei Fahrbahnen, denen je eine Fahrtrichtung zugewiesen ist. -
zeigt eine beispielhafte erfindungsgemäße Vorrichtung 300.Figur 3 -
zeigt einFigur 4Flussdiagramm eines Verfahrens 400 gemäß der Erfindung. -
Figur 5 zeigte eine beispielhafte Abbildungsvorschrift für Breiten einer Fahrspur. -
Figur 6 zeigte eine beispielhafte Abbildungsvorschrift für verschiedene Kreisradien einer Fahrspur. -
Figur 7 zeigt das Prinzip der Verknüpfung eines Modus "Richtungsfahrbahn" mit anderen Modulen.
-
FIG. 1 shows a schematic diagram of a highway. -
FIG. 2 shows a schematic representation of a normal federal highway with two lanes, each assigned to a direction of travel. -
FIG. 3 shows anexemplary device 300 according to the invention. -
FIG. 4 shows a flowchart of amethod 400 according to the invention. -
FIG. 5 showed an exemplary mapping rule for widths of a lane. -
FIG. 6 showed an exemplary mapping rule for different circle radii of a lane. -
FIG. 7 shows the principle of linking a mode "directional lane" with other modules.
Das im Folgenden detailliert beschriebene Ausführungsbeispiel basiert auf der in
Die von der Vorrichtung gemäß dem detaillierten Ausführungsbeispiel errechnete Maßzahl P ist auf Werte zwischen 0 und 1 bzw. 0% und 100% begrenzt. Wenn der Wert 0% erreicht wird, bedeutet dies, dass die Fahrbahn als keine Richtungsfahrbahn eingestuft wird, wenn der Wert 100% erreicht wird bedeutet dies eine Einstufung als Richtungsfahrbahn. Diese Information kann als weitere Ausgabe R bereitgestellt werden, und zwar durch die Werte +1 (Richtungsfahrbahn) und -1 (keine Richtungsfahrbahn). Die Ausgabe R bleibt dabei solange in ihrem Zustand, bis der jeweils andere Wert erreicht wird.The measure P calculated by the device according to the detailed embodiment is limited to values between 0 and 1 or 0% and 100%. Achieving the
Den beiden Ausgaben der Vorrichtungen zur Umfelderkennung ordnet die Vorrichtung 300 die Strecke (entspricht dem Faktor F) zu, die das Fahrzeug bis zum Empfang der nächsten Ausgaben zurückgelegt hat. Um die Strecke zu bestimmen berechnet die Vorrichtung 300 das Produkt aus der Geschwindigkeit zum Zeitpunkt t des Empfangs der Ausgabe und der Zeitspanne Δt.
Anschließend werden die Ausgaben in je einen Bewertungswert x abgebildet. Für die Breite der Fahrspur verwendet die Vorrichtung 300 beispielsweise die in
Der Kehrwert der einzelnen Werte dieser Abbildungsvorschriften stellt jeweils den Grenzweg dar, den das Fahrzeug durchlaufen muss, um bei gleichbleibender Ausgabe die Maßzahl P von 100% (also 1) auf 0% (also 0) zu verringern oder von 0% auf 100% zu erhöhen, je nachdem, ob der Bewertungswert positiv oder negativ ist und bei Berechnung der Maßzahl nur basierend auf dieser einen Ausgabe, ohne die zweite Ausgabe. Beispielsweise wäre bei einer Ausgabe zur Fahrspurbreite von 3,7m der Grenzweg ungefähr 200m, bei einer Ausgabe zum Kreisradius der Fahrspur von 620m der Grenzweg ungefähr 200m.The reciprocal value of the individual values of these mapping specifications always represents the borderline that the vehicle has to go through in order to maintain the same output to decrease the measure P from 100% (ie 1) to 0% (ie 0) or to increase it from 0% to 100%, depending on whether the score is positive or negative and calculating the score based on only that one score without the second edition. For example, with output to the lane width of 3.7m, the border path would be about 200m, with output to the circle radius of the lane of 620m, the border path would be about 200m.
Zur Berechnung der Maßzahl P wird die Maßzahl P anfänglich auf 0 gesetzt. Bei jeder neuen Berechnung der Maßzahl wird dann die Summe der mit dem jeweiligen Faktor gewichteten Bewertungszahlen zu der bisherigen Maßzahl hinzuaddiert.
Hier:
Wobei tj den Zeitpunkt des Empfangs der Ausgaben xi in der j-ten Wiederholung des Verfahrens bezeichnet, wobei es mindestens zwei Wiederholungen gibt.Where t j denotes the time of receipt of the outputs x i in the j-th repetition of the method, where there are at least two repetitions.
Diese Berechnung wird zumindest für zwei verschiedene Zeitpunkte der Ausgaben der Vorrichtungen zur Umfelderkennung ausgeführt und anschließend wird die Maßzahl P bereitgestellt.This calculation is performed at least for two different times of the outputs of the environment detection devices, and then the metric P is provided.
Ferner wird die Ausgabe R bereitgestellt, die anzeigt, ob die Maßzahl P zuletzt den Wert 0 oder 1 angenommen hat. R nimmt vorzugweise die Werte -1 und +1 an. Ein Wert von -1 zeigt an, dass P zuletzt den Wert 0 angenommen hat, was als Erkennung interpretiert wird, dass die Fahrbahn nicht richtungsgebunden ist. Ein Wert von +1 zeigt an, dass P zuletzt den Wert von 1 angenommen hat, was als Erkennung einer Richtungsfahrbahn interpretiert wird.Further, the output R is provided which indicates whether the metric P has last taken the
Weiterhin kann mithilfe der Vorrichtung gemäß dem detaillierten Ausführungsbeispiel eine übergeordnete Aussage RFB bereitgestellt werden. Diese berechnet sich durch die Verknüpfung einer auf Landkarten-Daten basierenden Ausgabe (einer Vorrichtung zur Umfelderkennung) mit einer auf einer sonstigen Umfelderkennung basierenden Ausgabe (einer Vorrichtung zur Umfelderkennung). Grundidee hierbei ist, die schon aus Kartendaten bekannten Informationen durch sogenannte weiche Kriterien, z.B. aus Kameraaufnahmen gewonnene Erkenntnisse über das Umfeld, zu plausibilisieren.Furthermore, an overall statement RFB can be provided by means of the device according to the detailed embodiment. This is calculated by linking an output based on map data (a device for environment detection) with an output based on another environment detection (a device for environment detection). The basic idea here is to use the information already known from card data by so-called soft criteria, e.g. to gain insight into the environment from camera shots.
Die Vorrichtung gemäß dem detaillierten Ausführungsbeispiel empfängt die Maßzahl Q (vorzugsweise mit Werten zwischen 0 und1), die die Ausgabe einer auf Landkarten-Daten basierenden Vorrichtung zur Umfelderkennung darstellt. Für diese Maßzahl Q wird die Ausgabe S bereitgestellt, die angibt, ob die Maßzahl Q zuletzt einen Minimal- oder Maximalwert erreicht hat. Die Ausgabe S nimmt die Werte +1 (Richtungsfahrbahn erkannt) und -1 (Erkennung, dass Fahrbahn nicht richtungsgebunden ist) an.The apparatus according to the detailed embodiment receives the metric Q (preferably with values between 0 and 1) representing the output of a map data-based environment recognition device. For this measure Q, the output S is provided which indicates whether the measure Q has last reached a minimum or maximum value. The output S assumes the values +1 (directional lane detected) and -1 (detection that lane is not directional).
Die Berechnung der Gewichte geschieht dann wie folgt:
Die Werte W1 und W2 lassen sich dabei wie folgt berechnen:
- W1 ist gleich der Maßzahl P, falls die Ausgabe R anzeigt, dass zuletzt der Maximalwert (1) der Maßzahl P erreicht wurde,
- W1 ist gleich dem Maximalwert von P minus der Maßzahl P, falls die Ausgabe R anzeigt, dass zuletzt der Minimalwert (0) der Maßzahl P erreicht wurde,
- W2 ist gleich der Maßzahl Q, falls die Ausgabe S anzeigt, dass zuletzt der Maximalwert (1) der Maßzahl Q erreicht wurde,
- W2 ist gleich dem Maximalwert (1) von Q minus der Maßzahl Q, falls die Ausgabe S anzeigt, dass zuletzt der Minimalwert (0) der Maßzahl Q erreicht wurde.
- W1 is equal to the measure P if the output R indicates that the maximum value (1) of the measure P was last reached,
- W1 is equal to the maximum value of P minus the measure P, if the output R indicates that the minimum value (0) of the measure P was last reached,
- W2 is equal to the measure Q if the output S indicates that the maximum value (1) of the measure Q has been reached last,
- W2 is equal to the maximum value (1) of Q minus the metric Q if the output S indicates that the minimum value (0) of the metric Q has been last reached.
Die Summe der Gewichte ist offensichtlich stets 1. Je sicherer die Erkennung einer Richtungsfahrbahn ist, desto näher wird w1 oder w2 an dem Wert 1 sein und desto mehr relatives Gewicht wird der entsprechenden Erkennung beigemessen.The sum of the weights is obviously always 1. The safer the detection of a lane, the closer w1 or w2 will be to the
Schließlich wird der Wert für RFB berechnet und bereitgestellt:
Nimmt RFB den Maximalwert (bspw. +1) an, wird die sicherste Erkennung einer Richtungsfahrbahn angezeigt, während der Minimalwert von RFB (bspw. -1) mit der größten Erkennungssicherheit anzeigt, dass es sich nicht um eine Richtungsfahrbahn handelt. Die Werte dazwischen stellen Erkennungsergebnisse mit geringerer Sicherheit bzw. Konfidenz dar.If RFB takes the maximum value (eg +1), the safest detection of a lane is indicated, while the minimum value of RFB (eg -1) with the highest detection reliability indicates that it is not a lane. The values in between represent detection results with less security or confidence.
Claims (17)
- A method for providing an assessment of whether a roadway is directional, wherein the assessment is specified by a dimension, by an apparatus installed in a vehicle, the method comprising the steps of:stipulating a dimension if one has not yet been calculated prior to the execution of the method (S401);receiving an output from an apparatus for environment recognition (302) of the vehicle, which output is based on recognition of the environment at an instant (S402);associating a factor with the output, wherein the factor is also based on the speed of the vehicle at an instant associated with the output and on a period of time (S403);mapping the output into a rating value in accordance with a predefined mapping specification, by which the extent to which the property of the environment represented by the output indicates a directional roadway is taken into consideration (S404);associating the factor with the rating value (S405);calculating the dimension based on a sum that is based on the rating value weighted with the associated factor, and on the previously calculated or stipulated dimension (S406); andproviding the dimension to driver assistance systems of the vehicle (S407).
- A method according to claim 1, further comprising:
repeating the steps of the method according to claim 1 at least once, wherein during the repetition an output is received from the apparatus for environment recognition and is based on a recognition of the environment at another instant. - A method according to claim 1 or 2, further comprising the following step:providing the rating value weighted with the associated factor; orproviding the dimension change.
- A method according to any one of claims 1 to 3, wherein the factor is based on the distance covered by the vehicle in the period of time.
- A method according to claim 4 in dependency on claim 2, wherein the period of time is based on the period of time between said instant and said other instant.
- A method according to any one of claims 1 to 5, wherein the factor is based on the distance covered by the vehicle, and wherein the method further comprises the following steps:
outputting a distance that the vehicle would have to cover before the dimension would reach a maximum or minimum value starting from the current value and with repeated calculation according to the steps of the method according to claim 1 if the outputs from the apparatus for environment recognition were to remain consistent with the last output. - A method according to any one of claims 1 to 6, wherein the factor is based on the distance covered by the vehicle, and wherein the reciprocal of the rating value is preferably the limit distance that the vehicle would have to cover for outputs that are consistent with the last output and with repeated calculation of the dimension according to the steps of the method according to claim 1 in order to achieve a change in the dimension by a predetermined value, preferably a maximum value of the dimension.
- A method according to any one of claims 1 to 7, wherein the apparatus for environment recognition is based on a video camera, on a radar, on a lidar, on an ultrasonic sensor, on a navigation system or on map data.
- A method according to any one of claims 1 to 8, further comprising the following step:
stipulating the dimension as a predefined value if a predefined output from the apparatus for environment recognition or from another apparatus for environment recognition is received, more especially if the output received indicates that oncoming traffic is present within the physical partition or that a sign indicating the start or end of a motorway has been recognised. - A method for providing an assessment of whether a roadway is directional, wherein the assessment is defined by a dimension, by an apparatus installed in a vehicle, the method comprising the steps of:stipulating a dimension if one has not yet been calculated prior to the execution of the method;receiving an output from a first apparatus for environment recognition of the vehicle, which output is based on recognition of the environment at a first instant;receiving an output from a second apparatus for environment recognition of the vehicle, which output is based on a second instant,wherein the first instant and the second instant can be the same;associating a first factor with the output from the first apparatus for environment recognition, wherein the first factor is also based on the speed of the vehicle at an instant associated with the output of the first apparatus for environment recognition and on a period of time,associating a second factor from the output of the second apparatus for environment recognition, wherein the second factor is also based on the speed of the vehicle at an instant associated with the output of the second device for environment recognition and on a period of time;mapping the output from the first apparatus for environment recognition into a first rating value in accordance with a first predefined mapping specification, by which the extent to which the property of the environment represented by the output indicates a directional roadway is taken into consideration;mapping the output from the second apparatus for environment recognition into a second rating value in accordance with a second predefined mapping specification, by which the extent to which the property of the environment represented by the output indicates a directional roadway is taken into consideration;associating the first factor with the first rating value;associating the second factor with the second rating value;calculating the dimension based on the sum that is based on the first rating value weighted with the associated first factor, on the second rating value weighted with the associated second factor, and on the previously calculated or stipulated dimension; andproviding the dimension to driver assistance systems of the vehicle.
- A method according to claim 10, further comprising the following steps:
repeating the steps of the method according to claim 10 at least once, wherein during the repetition an output is received from each of the first and second apparatuses for environment recognition and is based on recognition of the environment in each case at another instant. - A method according to any one of claims 1 to 11, further comprising:limiting the dimension to a maximum value, after which the dimension is not increased further; andlimiting the dimension to a minimum value, afterwhich the dimension is not decreased further.
- A method according to claim 12, further comprising:providing an output to the driver assistance systems, wherein the output is set to a first state when the dimension reaches the maximum value; andthe output is set to a second state when the dimension reaches the minimum value.
- A method according to any one of claims 1 to 13, wherein the dimension is a first dimension, further comprising the following steps:receiving a second dimension that outputs an assessment ofwhether a roadway is directional on the basis of a map and the current position of the vehicle;mapping the first dimension into a first output;determining a first weight for the first output;mapping the second dimension into a second output;determining a second weight for the second output;calculating a third dimension on the basis of the first output weighted with the first weight and the second output weighted with the second weight; andproviding the third dimension to the driver assistance systems.
- A method according to claim 14, wherein the first weight is also based on the first dimension; and
the second weight is also based on the second dimension. - A method according to either one of clams 14 or 15, wherein the mapping of the first dimension comprises:setting the first output to a first state when the first dimension reaches a first maximum value;setting the first output to a second state when the first dimension reaches a first minimum value;wherein the mapping of the second dimension comprises:setting the second output to a third state when the second dimension has reached a second maximum value most recently;setting the second output to a fourth state when the second dimension has reached a second minimum value most recently;wherein the first and third states may be the same;wherein the second and fourth states may be the same;wherein the first maximum value may be the same as the second maximum value;wherein the first minimum value may be the same as the second minimum value.
- Apparatus, installed in a vehicle, comprising a computation unit, wherein the apparatus is configured to receive the output from an apparatus for environment recognition (302) or the output from at least two apparatuses for environment recognition (302) and the speed of an apparatus for determining the speed (304) and also is configured to carry out the method according to any one of claims 1 to 16.
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